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This T&R document contains the complete "Study of Modular Mathematical Models for Ship Maneuvering" that was undertaken by Panel H-10 (Ship Controllability) on behalf of the U.S. Maritime Administration. The study is published essentially as it existed at the time of the untimely death of the Principal investigator and principal report author, Dr. Paul Kaplan. The final review and editing of the report was carried out by Dr. Vladimir Ankudinov, the co-investigator, and by other members of Panel H-10. Mr. Bent K. Jakobsen of the Panel deserves special thanks for retyping the complete report and Dr. Jacek Mazurkiewicz for recreating the figures when an electronic copy of the report could not be obtained.